The Study of Path Planning of Welding Manipulator Based on Improved QPSO

Abstract

The welding path planning of manipulator is one of the key issues to improve efficiency in the industry. In allusion to the defects of particle swarm algorithm, enlightened by quantum mechanics, the quantum particle swarm algorithm is presented in this paper, expanding the search range of particles and retaining the good operability of particle swarm algorithm. Based on features of welding manipulator path planning, the welding spots passed by particles are weight-coded and the combination optimization problem is made continuous. Finally, an optimal welding path for the manipulator is worked out by using this algorithm.